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MULTI-OBJECTIVE OPTIMIZATION OF HUMAN GAIT WITH A DISCOMFORT FUNCTION

机译：具有不适功能的人体步态多目标优化

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摘要

The objective of this study was to develop a discomfort function for including a high DOF upper body model during walking. A multi-objective optimization (MOO) method was formulated by minimizing dynamic effort and the discomfort function simultaneously. The discomfort function is defined as the sum of the squares of deviation of joint angles from then-neutral angle positions. The dynamic effort is the sum of the joint torque squared. To investigate the efficacy of the proposed MOO method, backward walking simulation was conducted. By minimizing both dynamic effort and the discomfort function, a 3D whole body model with a high DOF upper body for walking was demonstrated successfully.
机译：本研究的目的是在步行期间制定包括高DOF上身模型的不适功能。通过同时最小化动态努力和不适功能来配制多目标优化（MOO）方法。不适函数被定义为与然后中性角度位置的关节角度的偏差平方和。动态努力是平方的关节扭矩的总和。为了研究所提出的MOO方法的功效，进行了向后行走模拟。通过最大限度地减少动态努力和不适功能，成功地证明了具有高DOF上身的3D全身模型。

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